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<h1><a href="../apiOverview.htm">Regular API</a> function</h1>
<h3 class=subsectionBar><a name="simCreateIkGroup" id="simCreateIkGroup"></a>simCreateIkGroup / sim.createIkGroup </h3>
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<td class=apiTableLeftDescr>
Description 
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<td class=apiTableRightDescr>Creates an <a href="../basicsOnIkGroupsAndIkElements.htm">IK group</a>. See also <a href="simRemoveIkGroup.htm">sim.removeIkGroup</a> and <a href="simCreateIkElement.htm">sim.createIkElement</a>.</td>
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C synopsis
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<td class=apiTableRightCSyn>simInt simCreateIkGroup(simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved)</td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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<div><strong>options</strong>: bit-coded options:</div>
<div class=tab>bit 0 set (1): the group is inactive.</div>
<div class=tab>bit 1 set (2): joint limits are taken into account during calculation (i.e. only for redundant kinematics).</div>
<div class=tab>bit 2 set (4): restore if position not reached.</div>
<div class=tab>bit 3 set (8): restore if orientation not reached.</div>
<div class=tab>bit 4 set (16): do not ignore the joint's max. step sizes.</div>
<div class=tab>bit 5 set (32): the group is explicitely handled.</div>
<div><strong>intParams</strong>: an optional array of 2 integer parameters (i.e. array can be nullptr):</div>
<div class=tab>intParams[0]: the <a href="../apiConstants.htm#ikCalculationMethods">IK calculation method</a>.</div>
<div class=tab>intParams[1]: the maximum number of iterations.</div>
<div><strong>floatParams</strong>: an optional array of 4 float parameters (i.e. array can be nullptr):</div>
<div class=tab>floatParams[0]: the DLS factor.</div>
<div class=tab>floatParams[1]: the joint limit weight.</div>
<div class=tab>floatParams[2]: the prismatic joint limit threshold.</div>
<div class=tab>floatParams[3]: the revolute joint limit threshold.</div>
<div><strong>reserved</strong>: reserved. Set to nullptr.</div>
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C return value
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<div>-1 if operation was not successful, otherwise the IK group handle.</div>
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<td class=apiTableLeftLSyn>
Lua synopsis
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<td class=apiTableRightLSyn>number ikGroupHandle=sim.createIkGroup(number options,table intParams=nil,table floatParams=nil)</td> 
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<td class=apiTableLeftLParam>Lua parameters</td> 
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<div>Similar to the C-function counterpart</div>
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Lua return values
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<div>Similar to the C-function counterpart</div>
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<p><a href="../apiFunctions.htm">All regular API functions on one page</a></p>
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